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#include <ftl/codecs/shapes.hpp>
#define LOGURU_REPLACE_GLOG 1
#include <loguru.hpp>
using ftl::overlay::Overlay;
using ftl::codecs::Channel;
namespace {
constexpr char const *const overlayVertexShader =
R"(#version 330
in vec3 vertex;
uniform float focal;
uniform float width;
uniform float height;
uniform float far;
uniform float near;
uniform mat4 pose;
uniform vec3 scale;
void main() {
vec4 vert = pose*(vec4(scale*vertex,1.0));
vert = vert / vert.w;
//vec4 pos = vec4(-vert.x*focal / -vert.z / (width/2.0),
// vert.y*focal / -vert.z / (height/2.0),
// (vert.z-near) / (far-near) * 2.0 - 1.0, 1.0);
vec4 pos = vec4(
vert.x*focal / (width/2.0),
-vert.y*focal / (height/2.0),
-vert.z * ((far+near) / (far-near)) + (2.0 * near * far / (far-near)),
//((vert.z - near) / (far - near) * 2.0 - 1.0) * vert.z,
vert.z
);
constexpr char const *const overlayFragmentShader =
R"(#version 330
uniform vec4 blockColour;
out vec4 color;
void main() {
color = blockColour;
})";
}
Overlay::Overlay(nlohmann::json &config) : ftl::Configurable(config) {
init_ = false;
void Overlay::_createShapes() {
shape_verts_ = {
// Box
{-1.0, -1.0, -1.0},
{1.0, -1.0, -1.0},
{1.0, 1.0, -1.0},
{-1.0, 1.0, -1.0},
{-1.0, -1.0, 1.0},
{1.0, -1.0, 1.0},
{1.0, 1.0, 1.0},
{-1.0, 1.0, 1.0},
// Camera
{0.0, 0.0, 0.0}, // 8
{0.5, 0.28, 0.5},
{0.5, -0.28, 0.5},
{-0.5, 0.28, 0.5},
{-0.5, -0.28, 0.5},
// Axis lines
{1.0, 0.0, 0.0}, // 13
{0.0, -1.0, 0.0},
{0.0, 0.0, 1.0},
{10.0, 0.0, -10.0},
{10.0, 0.0, 10.0},
{-10.0, 0.0, 10.0}
// Generate a big plane
for (int x=-9; x<=9; ++x) {
shape_verts_.push_back({float(x), 0.0, -10.0});
shape_verts_.push_back({float(x), 0.0, 10.0});
shape_verts_.push_back({-10.0, 0.0, float(x)});
shape_verts_.push_back({10.0, 0.0, float(x)});
}
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shape_tri_indices_ = {
// Box
0, 1, 2,
0, 2, 3,
1, 5, 6,
1, 6, 2,
0, 4, 7,
0, 7, 3,
3, 2, 6,
3, 6, 7,
0, 1, 5,
0, 5, 4,
// Box Lines
0, 1, // 30
1, 5,
5, 6,
6, 2,
2, 1,
2, 3,
3, 0,
3, 7,
7, 4,
4, 5,
6, 7,
0, 4,
// Camera
8, 9, 10, // 54
8, 11, 12,
8, 9, 11,
8, 10, 12,
// Camera Lines
8, 9, // 66
8, 10,
8, 11,
8, 12,
9, 10,
11, 12,
9, 11,
// Axis lines
8, 13, // 82
8, 14,
8, 15,
for (int x=-10; x<=10; ++x) {
shape_tri_indices_.push_back(i++);
shape_tri_indices_.push_back(i++);
shape_tri_indices_.push_back(i++);
shape_tri_indices_.push_back(i++);
}
shapes_[Shape::BOX] = {0,30, 30, 12*2};
shapes_[Shape::CAMERA] = {54, 4*3, 66, 8*2};
shapes_[Shape::XZPLANE] = {88, 2*3, 94, 40*2};
shapes_[Shape::AXIS] = {0, 0, 82, 2*3};
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oShader.uploadAttrib("vertex", sizeof(float3)*shape_verts_.size(), 3, sizeof(float), GL_FLOAT, false, shape_verts_.data());
oShader.uploadAttrib ("indices", sizeof(int)*shape_tri_indices_.size(), 1, sizeof(int), GL_UNSIGNED_INT, true, shape_tri_indices_.data());
}
void Overlay::_drawFilledShape(Shape shape, const Eigen::Matrix4d &pose, float scale, uchar4 c) {
if (shapes_.find(shape) ==shapes_.end()) {
return;
}
Eigen::Matrix4f mv = pose.cast<float>();
auto [offset,count, loffset, lcount] = shapes_[shape];
oShader.setUniform("scale", scale);
oShader.setUniform("pose", mv);
oShader.setUniform("blockColour", Eigen::Vector4f(float(c.x)/255.0f,float(c.y)/255.0f,float(c.z)/255.0f,float(c.w)/255.0f));
//oShader.drawIndexed(GL_TRIANGLES, offset, count);
glDrawElements(GL_TRIANGLES, (GLsizei) count, GL_UNSIGNED_INT,
(const void *)(offset * sizeof(uint32_t)));
}
void Overlay::_drawOutlinedShape(Shape shape, const Eigen::Matrix4d &pose, const Eigen::Vector3f &scale, uchar4 fill, uchar4 outline) {
if (shapes_.find(shape) ==shapes_.end()) {
return;
}
Eigen::Matrix4f mv = pose.cast<float>();
auto [offset,count,loffset,lcount] = shapes_[shape];
oShader.setUniform("scale", scale);
oShader.setUniform("pose", mv);
if (count > 0) {
oShader.setUniform("blockColour", Eigen::Vector4f(float(fill.x)/255.0f,float(fill.y)/255.0f,float(fill.z)/255.0f,float(fill.w)/255.0f));
//oShader.drawIndexed(GL_TRIANGLES, offset, count);
glDrawElements(GL_TRIANGLES, (GLsizei) count, GL_UNSIGNED_INT,
(const void *)(offset * sizeof(uint32_t)));
}
if (lcount != 0) {
oShader.setUniform("blockColour", Eigen::Vector4f(float(outline.x)/255.0f,float(outline.y)/255.0f,float(outline.z)/255.0f,float(outline.w)/255.0f));
//oShader.drawIndexed(GL_LINE_LOOP, offset, count);
glDrawElements(GL_LINES, (GLsizei) lcount, GL_UNSIGNED_INT,
(const void *)(loffset * sizeof(uint32_t)));
}
}
void Overlay::_drawAxis(const Eigen::Matrix4d &pose, const Eigen::Vector3f &scale) {
Eigen::Matrix4f mv = pose.cast<float>();
auto [offset,count,loffset,lcount] = shapes_[Shape::AXIS];
oShader.setUniform("scale", scale);
oShader.setUniform("pose", mv);
oShader.setUniform("blockColour", Eigen::Vector4f(1.0f, 0.0f, 0.0f, 1.0f));
//oShader.drawIndexed(GL_LINE_LOOP, offset, count);
glDrawElements(GL_LINES, (GLsizei) 2, GL_UNSIGNED_INT,
(const void *)(loffset * sizeof(uint32_t)));
loffset += 2;
oShader.setUniform("blockColour", Eigen::Vector4f(0.0f, 1.0f, 0.0f, 1.0f));
//oShader.drawIndexed(GL_LINE_LOOP, offset, count);
glDrawElements(GL_LINES, (GLsizei) 2, GL_UNSIGNED_INT,
(const void *)(loffset * sizeof(uint32_t)));
loffset += 2;
oShader.setUniform("blockColour", Eigen::Vector4f(0.0f, 0.0f, 1.0f, 1.0f));
//oShader.drawIndexed(GL_LINE_LOOP, offset, count);
glDrawElements(GL_LINES, (GLsizei) 2, GL_UNSIGNED_INT,
(const void *)(loffset * sizeof(uint32_t)));
}
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void Overlay::draw(ftl::rgbd::FrameSet &fs, ftl::rgbd::FrameState &state, const Eigen::Vector2f &screenSize) {
double zfar = 8.0f;
auto intrin = state.getLeft();
intrin = intrin.scaled(screenSize[0], screenSize[1]);
if (!init_) {
oShader.init("OverlayShader", overlayVertexShader, overlayFragmentShader);
oShader.bind();
_createShapes();
init_ = true;
} else {
oShader.bind();
}
float3 tris[] = {
{0.5f, -0.7f, 2.0f},
{0.2f, -0.5f, 2.0f},
{0.8f, -0.4f, 2.0f}
};
auto pose = MatrixConversion::toCUDA(state.getPose().cast<float>().inverse());
tris[0] = pose * tris[0];
tris[1] = pose * tris[1];
tris[2] = pose * tris[2];
glFlush();
glDepthMask(GL_FALSE);
glEnable( GL_BLEND );
glBlendEquation( GL_FUNC_ADD );
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_LINE_SMOOTH);
oShader.setUniform("focal", intrin.fx);
oShader.setUniform("width", float(intrin.width));
oShader.setUniform("height", float(intrin.height));
oShader.setUniform("far", zfar);
oShader.setUniform("near", 0.1f); // TODO: but make sure CUDA depth is also normalised like this
/*oShader.setUniform("blockColour", Eigen::Vector4f(1.0f,1.0f,0.0f,0.5f));
oShader.uploadAttrib("vertex", sizeof(tris), 3, sizeof(float), GL_FLOAT, false, tris);
oShader.drawArray(GL_TRIANGLES, 0, 3);
oShader.setUniform("blockColour", Eigen::Vector4f(1.0f,1.0f,0.0f,1.0f));
//oShader.uploadAttrib("vertex", sizeof(tris), 3, sizeof(float), GL_FLOAT, false, tris);
oShader.drawArray(GL_LINE_LOOP, 0, 3);*/
//glFinish();
if (value("show_poses", false)) {
for (size_t i=0; i<fs.frames.size(); ++i) {
auto pose = fs.frames[i].getPose().inverse(); //.inverse() * state.getPose();
auto name = fs.frames[i].get<std::string>("name");
_drawOutlinedShape(Shape::CAMERA, state.getPose().inverse() * pose, Eigen::Vector3f(0.2f,0.2f,0.2f), make_uchar4(255,0,0,80), make_uchar4(255,0,0,255));
//ftl::overlay::drawCamera(state.getLeft(), out, over_depth_, fs.frames[i].getLeftCamera(), pose, cv::Scalar(0,0,255,255), 0.2,value("show_frustrum", false));
//if (name) ftl::overlay::drawText(state.getLeft(), out, over_depth_, *name, pos, 0.5, cv::Scalar(0,0,255,255));
_drawOutlinedShape(Shape::XZPLANE, state.getPose().inverse(), Eigen::Vector3f(1.0f,1.0f,1.0f), make_uchar4(200,200,200,50), make_uchar4(255,255,255,100));
}
if (value("show_axis", true)) {
_drawAxis(state.getPose().inverse(), Eigen::Vector3f(0.5f, 0.5f, 0.5f));
}
if (value("show_shapes", false)) {
if (fs.hasChannel(Channel::Shapes3D)) {
std::vector<ftl::codecs::Shape3D> shapes;
fs.get(Channel::Shapes3D, shapes);
for (auto &s : shapes) {
auto pose = s.pose.cast<double>();
//Eigen::Vector4d pos = pose.inverse() * Eigen::Vector4d(0,0,0,1);
//pos /= pos[3];
Eigen::Vector3f scale(s.size[0]/2.0f, s.size[1]/2.0f, s.size[2]/2.0f);
_drawOutlinedShape(Shape::BOX, state.getPose().inverse() * pose, scale, make_uchar4(255,0,255,80), make_uchar4(255,0,255,255));
//ftl::overlay::drawFilledBox(state.getLeft(), out, over_depth_, pose, cv::Scalar(0,0,255,50), s.size.cast<double>());
//ftl::overlay::drawBox(state.getLeft(), out, over_depth_, pose, cv::Scalar(0,0,255,255), s.size.cast<double>());
//ftl::overlay::drawText(state.getLeft(), out, over_depth_, s.label, pos, 0.5, cv::Scalar(0,0,255,100));
}
}
for (size_t i=0; i<fs.frames.size(); ++i) {
if (fs.frames[i].hasChannel(Channel::Shapes3D)) {
std::vector<ftl::codecs::Shape3D> shapes;
fs.frames[i].get(Channel::Shapes3D, shapes);
for (auto &s : shapes) {
auto pose = s.pose.cast<double>().inverse() * state.getPose();
Eigen::Vector4d pos = pose.inverse() * Eigen::Vector4d(0,0,0,1);
pos /= pos[3];
//ftl::overlay::drawBox(state.getLeft(), out, over_depth_, pose, cv::Scalar(0,0,255,100), s.size.cast<double>());
//ftl::overlay::drawText(state.getLeft(), out, over_depth_, s.label, pos, 0.5, cv::Scalar(0,0,255,100));
glDisable(GL_LINE_SMOOTH);
glDisable(GL_BLEND);
void ftl::overlay::draw3DLine(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const Eigen::Vector4d &begin,
const Eigen::Vector4d &end,
const cv::Scalar &linecolour) {
auto begin_pos = cam.camToScreen<int2>(make_float3(begin[0], begin[1], begin[2]));
auto end_pos = cam.camToScreen<int2>(make_float3(end[0], end[1], end[2]));
cv::LineIterator lineit(colour, cv::Point(begin_pos.x, begin_pos.y), cv::Point(end_pos.x, end_pos.y));
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double z_grad = (end[2] - begin[2]) / lineit.count;
double current_z = begin[2];
for(int i = 0; i < lineit.count; i++, ++lineit) {
colour.at<cv::Vec4b>(lineit.pos()) = linecolour;
depth.at<float>(lineit.pos()) = current_z;
current_z += z_grad;
}
}
void ftl::overlay::drawPoseBox(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const Eigen::Matrix4d &pose,
const cv::Scalar &linecolour,
double size) {
double size2 = size/2.0;
Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(size2,size2,-size2,1);
Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(size2,-size2,-size2,1);
Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-size2,-size2,-size2,1);
Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-size2,size2,-size2,1);
Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2,-size2,size2,1);
Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2,size2,size2,1);
Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2,-size2,size2,1);
Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2,size2,size2,1);
p001 /= p001[3];
p011 /= p011[3];
p111 /= p111[3];
p101 /= p101[3];
p110 /= p110[3];
p100 /= p100[3];
p010 /= p010[3];
p000 /= p000[3];
if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
draw3DLine(cam, colour, depth, p000, p001, linecolour);
draw3DLine(cam, colour, depth, p000, p010, linecolour);
draw3DLine(cam, colour, depth, p000, p100, linecolour);
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draw3DLine(cam, colour, depth, p001, p011, linecolour);
draw3DLine(cam, colour, depth, p001, p101, linecolour);
draw3DLine(cam, colour, depth, p010, p011, linecolour);
draw3DLine(cam, colour, depth, p010, p110, linecolour);
draw3DLine(cam, colour, depth, p100, p101, linecolour);
draw3DLine(cam, colour, depth, p100, p110, linecolour);
draw3DLine(cam, colour, depth, p101, p111, linecolour);
draw3DLine(cam, colour, depth, p110, p111, linecolour);
draw3DLine(cam, colour, depth, p011, p111, linecolour);
}
void ftl::overlay::drawBox(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const Eigen::Matrix4d &pose,
const cv::Scalar &linecolour,
const Eigen::Vector3d &size) {
double size2x = size[0]/2.0;
double size2y = size[1]/2.0;
double size2z = size[2]/2.0;
Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(size2x,size2y,-size2z,1);
Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,-size2z,1);
Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,-size2z,1);
Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,-size2z,1);
Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,size2z,1);
Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,size2z,1);
Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,size2z,1);
Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2x,size2y,size2z,1);
p001 /= p001[3];
p011 /= p011[3];
p111 /= p111[3];
p101 /= p101[3];
p110 /= p110[3];
p100 /= p100[3];
p010 /= p010[3];
p000 /= p000[3];
if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
draw3DLine(cam, colour, depth, p000, p001, linecolour);
draw3DLine(cam, colour, depth, p000, p010, linecolour);
draw3DLine(cam, colour, depth, p000, p100, linecolour);
draw3DLine(cam, colour, depth, p001, p011, linecolour);
draw3DLine(cam, colour, depth, p001, p101, linecolour);
draw3DLine(cam, colour, depth, p010, p011, linecolour);
draw3DLine(cam, colour, depth, p010, p110, linecolour);
draw3DLine(cam, colour, depth, p100, p101, linecolour);
draw3DLine(cam, colour, depth, p100, p110, linecolour);
draw3DLine(cam, colour, depth, p101, p111, linecolour);
draw3DLine(cam, colour, depth, p110, p111, linecolour);
draw3DLine(cam, colour, depth, p011, p111, linecolour);
}
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void ftl::overlay::drawFilledBox(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const Eigen::Matrix4d &pose,
const cv::Scalar &linecolour,
const Eigen::Vector3d &size) {
double size2x = size[0]/2.0;
double size2y = size[1]/2.0;
double size2z = size[2]/2.0;
Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(size2x,size2y,-size2z,1);
Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,-size2z,1);
Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,-size2z,1);
Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,-size2z,1);
Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,size2z,1);
Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,size2z,1);
Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,size2z,1);
Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2x,size2y,size2z,1);
p001 /= p001[3];
p011 /= p011[3];
p111 /= p111[3];
p101 /= p101[3];
p110 /= p110[3];
p100 /= p100[3];
p010 /= p010[3];
p000 /= p000[3];
if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
std::array<cv::Point, 4> pts;
auto p = cam.camToScreen<int2>(make_float3(p000[0], p000[1], p000[2]));
pts[0] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p001[0], p001[1], p001[2]));
pts[1] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p011[0], p011[1], p011[2]));
pts[2] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p010[0], p010[1], p010[2]));
pts[3] = cv::Point(p.x, p.y);
cv::fillConvexPoly(colour, pts, linecolour);
p = cam.camToScreen<int2>(make_float3(p100[0], p100[1], p100[2]));
pts[0] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p101[0], p101[1], p101[2]));
pts[1] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p111[0], p111[1], p111[2]));
pts[2] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p110[0], p110[1], p110[2]));
pts[3] = cv::Point(p.x, p.y);
cv::fillConvexPoly(colour, pts, linecolour);
p = cam.camToScreen<int2>(make_float3(p000[0], p000[1], p000[2]));
pts[0] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p010[0], p010[1], p010[2]));
pts[1] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p110[0], p110[1], p110[2]));
pts[2] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p100[0], p100[1], p100[2]));
pts[3] = cv::Point(p.x, p.y);
cv::fillConvexPoly(colour, pts, linecolour);
p = cam.camToScreen<int2>(make_float3(p001[0], p001[1], p001[2]));
pts[0] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p011[0], p011[1], p011[2]));
pts[1] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p111[0], p111[1], p111[2]));
pts[2] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p101[0], p101[1], p101[2]));
pts[3] = cv::Point(p.x, p.y);
cv::fillConvexPoly(colour, pts, linecolour);
p = cam.camToScreen<int2>(make_float3(p000[0], p000[1], p000[2]));
pts[0] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p001[0], p001[1], p001[2]));
pts[1] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p101[0], p101[1], p101[2]));
pts[2] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p100[0], p100[1], p100[2]));
pts[3] = cv::Point(p.x, p.y);
cv::fillConvexPoly(colour, pts, linecolour);
p = cam.camToScreen<int2>(make_float3(p010[0], p010[1], p010[2]));
pts[0] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p011[0], p011[1], p011[2]));
pts[1] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p111[0], p111[1], p111[2]));
pts[2] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p110[0], p110[1], p110[2]));
pts[3] = cv::Point(p.x, p.y);
cv::fillConvexPoly(colour, pts, linecolour);
}
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void ftl::overlay::drawRectangle(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const Eigen::Matrix4d &pose,
const cv::Scalar &linecolour,
double width, double height) {
double width2 = width/2.0;
double height2 = height/2.0;
Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(width2,height2,0,1);
Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(width2,-height2,0,1);
Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-width2,-height2,0,1);
Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-width2,height2,0,1);
p001 /= p001[3];
p011 /= p011[3];
p111 /= p111[3];
p101 /= p101[3];
if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1) return;
draw3DLine(cam, colour, depth, p001, p011, linecolour);
draw3DLine(cam, colour, depth, p001, p101, linecolour);
draw3DLine(cam, colour, depth, p101, p111, linecolour);
draw3DLine(cam, colour, depth, p011, p111, linecolour);
}
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void ftl::overlay::drawPoseCone(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const Eigen::Matrix4d &pose,
const cv::Scalar &linecolour,
double size) {
double size2 = size;
Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2,-size2,size2,1);
Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2,size2,size2,1);
Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2,-size2,size2,1);
Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2,size2,size2,1);
Eigen::Vector4d origin = pose.inverse() * Eigen::Vector4d(0,0,0,1);
p110 /= p110[3];
p100 /= p100[3];
p010 /= p010[3];
p000 /= p000[3];
origin /= origin[3];
if (origin[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
draw3DLine(cam, colour, depth, p000, origin, linecolour);
draw3DLine(cam, colour, depth, p000, p010, linecolour);
draw3DLine(cam, colour, depth, p000, p100, linecolour);
draw3DLine(cam, colour, depth, p010, origin, linecolour);
draw3DLine(cam, colour, depth, p010, p110, linecolour);
draw3DLine(cam, colour, depth, p100, origin, linecolour);
draw3DLine(cam, colour, depth, p100, p110, linecolour);
draw3DLine(cam, colour, depth, p110, origin, linecolour);
}
void ftl::overlay::drawCamera(
const ftl::rgbd::Camera &vcam,
cv::Mat &colour,
cv::Mat &depth,
const ftl::rgbd::Camera &camera,
const Eigen::Matrix4d &pose,
const cv::Scalar &linecolour,
//double size2 = size;
const auto ¶ms = camera;
double width = (static_cast<double>(params.width) / static_cast<double>(params.fx)) * scale;
double height = (static_cast<double>(params.height) / static_cast<double>(params.fx)) * scale;
double width2 = width / 2.0;
double height2 = height / 2.0;
double principx = (((static_cast<double>(params.width) / 2.0) + params.cx) / static_cast<double>(params.fx)) * scale;
double principy = (((static_cast<double>(params.height) / 2.0) + params.cy) / static_cast<double>(params.fx)) * scale;
auto ptcoord = params.screenToCam(0,0,scale);
Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
ptcoord = params.screenToCam(0,params.height,scale);
Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
ptcoord = params.screenToCam(params.width,0,scale);
Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
ptcoord = params.screenToCam(params.width,params.height,scale);
Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
Eigen::Vector4d origin = pose.inverse() * Eigen::Vector4d(0,0,0,1);
p110 /= p110[3];
p100 /= p100[3];
p010 /= p010[3];
p000 /= p000[3];
origin /= origin[3];
if (origin[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
draw3DLine(vcam, colour, depth, p000, origin, linecolour);
draw3DLine(vcam, colour, depth, p000, p010, linecolour);
draw3DLine(vcam, colour, depth, p000, p100, linecolour);
draw3DLine(vcam, colour, depth, p010, origin, linecolour);
draw3DLine(vcam, colour, depth, p010, p110, linecolour);
draw3DLine(vcam, colour, depth, p100, origin, linecolour);
draw3DLine(vcam, colour, depth, p100, p110, linecolour);
draw3DLine(vcam, colour, depth, p110, origin, linecolour);
if (frustrum) {
const double fscale = 16.0;
ptcoord = params.screenToCam(0,0,fscale);
Eigen::Vector4d f110 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
ptcoord = params.screenToCam(0,params.height,fscale);
Eigen::Vector4d f100 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
ptcoord = params.screenToCam(params.width,0,fscale);
Eigen::Vector4d f010 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
ptcoord = params.screenToCam(params.width,params.height,fscale);
Eigen::Vector4d f000 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
f110 /= f110[3];
f100 /= f100[3];
f010 /= f010[3];
f000 /= f000[3];
if (f110[2] < 0.1 || f100[2] < 0.1 || f010[2] < 0.1 || f000[2] < 0.1) return;
draw3DLine(vcam, colour, depth, f000, p000, cv::Scalar(0,255,0,0));
draw3DLine(vcam, colour, depth, f010, p010, cv::Scalar(0,255,0,0));
draw3DLine(vcam, colour, depth, f100, p100, cv::Scalar(0,255,0,0));
draw3DLine(vcam, colour, depth, f110, p110, cv::Scalar(0,255,0,0));
draw3DLine(vcam, colour, depth, f000, f010, cv::Scalar(0,255,0,0));
draw3DLine(vcam, colour, depth, f000, f100, cv::Scalar(0,255,0,0));
draw3DLine(vcam, colour, depth, f010, f110, cv::Scalar(0,255,0,0));
draw3DLine(vcam, colour, depth, f100, f110, cv::Scalar(0,255,0,0));
}
void ftl::overlay::drawText(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const std::string &text,
const Eigen::Vector4d &pos,
double size,
const cv::Scalar &textcolour) {
auto pt = cam.camToScreen<int2>(make_float3(pos[0], pos[1], pos[2]));
if (pos[2] < 0.1) return;
cv::putText(colour, text, cv::Point(pt.x, colour.rows-pt.y), 0, size, textcolour, 1, cv::LINE_8, true);
}